{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:31:32Z","timestamp":1762522292307,"version":"3.40.5"},"reference-count":24,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2019,6,17]],"date-time":"2019-06-17T00:00:00Z","timestamp":1560729600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,4]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, a force and torque controller for aerial manipulation is developed using an unmanned aerial vehicle equipped with a robotic arm to interact near or on a vertical surface such as a wall. Control of aerial manipulators interacting with the environment is a challenging task due to dynamic interactions between aerial vehicles, robotic arms, and environment. To achieve this, modeling of aerial manipulators is first investigated and presented considering interaction with the environment. Nonlinear models of generic aerial manipulators, as well as of a prototype aerial manipulator composed of a hexacopter with a three-joint robotic arm, are established. An equilibrium-based force and torque controller is developed to conduct tasks that require the aerial manipulator to exert forces and torques on a wall. Simulations and experiments validate the performance of the controller that successfully applies desired forces and torques to an object fixed on a wall while flying near the wall.<\/jats:p>","DOI":"10.1017\/s0263574719000870","type":"journal-article","created":{"date-parts":[[2019,6,17]],"date-time":"2019-06-17T03:19:42Z","timestamp":1560741582000},"page":"582-604","source":"Crossref","is-referenced-by-count":5,"title":["Equilibrium-Based Force and Torque Control for an Aerial Manipulator to Interact with a Vertical Surface"],"prefix":"10.1017","volume":"38","author":[{"given":"Bruno","family":"Tavora","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5657-8624","authenticated-orcid":false,"given":"Hyeongjun","family":"Park","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marcello","family":"Romano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoping","family":"Yun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,6,17]]},"reference":[{"key":"S0263574719000870_ref3","first-page":"4990","article-title":"Aerial Manipulation Using a Quadrotor with a Two DoF Robotic Arm","author":"Kim","year":"2013","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"S0263574719000870_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631278"},{"key":"S0263574719000870_ref24","first-page":"64","article-title":"ARBOTIX ROBOCONTROLLER-A powerful new 3rd party controller for Robotis Bioloid AX-12+ Dynamixel servos!","volume":"20","author":"Ferguson","year":"2009","journal-title":"Robot-Congers"},{"key":"S0263574719000870_ref23","unstructured":"23. Pilot Engineering Group, Pixhawk pilot support package user guide, MathWorks (2015)."},{"key":"S0263574719000870_ref7","first-page":"5417","article-title":"Hybrid Modeling and Control of a Coaxial Unmanned Rotorcraft Interacting with its Environment Through Contact","author":"Alexis","year":"2013","journal-title":"IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"S0263574719000870_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386021"},{"key":"S0263574719000870_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/RED-UAS.2015.7441021"},{"key":"S0263574719000870_ref19","doi-asserted-by":"publisher","DOI":"10.3182\/20120905-3-HR-2030.00158"},{"key":"S0263574719000870_ref18","first-page":"3839","article-title":"Impedance Control of an Aerial Manipulator","author":"Forte","year":"2012","journal-title":"American Control Conference (ACC)"},{"key":"S0263574719000870_ref1","first-page":"4916","article-title":"Control of an Aerial Robot with Multilink Arm for Assembly Tasks","author":"Jimenez-Cano","year":"2013","journal-title":"IEEE International Conference on Robotics and Automation (ICRA)"},{"volume-title":"Robotics: Modelling, Planning and Control","year":"2010","author":"Siciliano","key":"S0263574719000870_ref16"},{"key":"S0263574719000870_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CoASE.2015.7294098"},{"key":"S0263574719000870_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-016-9590-0"},{"key":"S0263574719000870_ref10","first-page":"3532","article-title":"Modeling and Control of a Flying Robot for Contact Inspection","author":"Fumagalli","year":"2012","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"S0263574719000870_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906589"},{"key":"S0263574719000870_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9485-5"},{"volume-title":"Ph.D. Thesis","year":"2017","author":"Tavora","key":"S0263574719000870_ref13"},{"key":"S0263574719000870_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696619"},{"key":"S0263574719000870_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907516"},{"volume-title":"Space Vehicle Dynamics and Control","year":"1998","author":"Wie","key":"S0263574719000870_ref17"},{"key":"S0263574719000870_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1"},{"key":"S0263574719000870_ref2","first-page":"3417","article-title":"Control of a Multirotor Outdoor Aerial Manipulator","author":"Heredia","year":"2014","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"S0263574719000870_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/978-90-481-9707-1_77"},{"key":"S0263574719000870_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2014.6842330"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574719000870","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,2,28]],"date-time":"2020-02-28T08:25:00Z","timestamp":1582878300000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574719000870\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,6,17]]},"references-count":24,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2020,4]]}},"alternative-id":["S0263574719000870"],"URL":"https:\/\/doi.org\/10.1017\/s0263574719000870","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2019,6,17]]}}}